Intelligent Orah orange picking robot

Abstract

The invention belongs to the field of agricultural robots. An intelligent Orah orange picking robot comprises a walking mechanism, a picking device, a recycling device, a visual identification device,a control system and a work table. A binocular camera module arranged on the walking mechanism is capable of collecting images of different time periods and conducting comparing to judge whether there are Orah orange trees to be picked in the image capturing range, and the positions of obstacles can be obtained through an infrared obstacle detection device, so that the robot can automatically walk according to a picking route and intelligently avoid the obstacles; and the visual identification device realizes non-contact measurement between the picking device and oranges. The end of a robot arm is provided with a gripping jaw and a shearing knife, the gripping jaw grips one orange, and then the orange is separated from a fruit stem through cutting by the shearing knife. The intelligent Orah orange picking robot disclosed by the invention can realize automatic picking and collecting, and improve picking efficiency and picking quality.

Description

technical field [0001] The invention belongs to the field of agricultural robots, and in particular relates to an intelligent mandarin orange picking robot. Background technique [0002] Wo Tangerine is a hybrid of "Temple" Tangerine and "Dancy" Red Tangerine. This variety is a late-maturing hybrid citrus variety. The growth potential is strong, the crown is naturally round in the early stage, and gradually opens after fruiting, with short thorns on the branches. Wokan not only tastes sweet, but also has high nutritional value. It contains 13.3% soluble solids, 0.58% titratable acid, 12.76 g / 100 ml of invert sugar, 6.84 g / 100 ml of reducing sugar, and 23.69 mg / 100 mg of Vc milliliter, the solid-acid ratio is 22.9. The edible rate is 74.62%, and the juice yield is 59.56%. Citrus picking is currently one of the most time-consuming and labor-intensive links in the production chain of Citrus. The quality of the picking operation directly affects subsequent processing and sto...

AI Technical Summary

Problems solved by technology

Due to the complexity of the picking operation, the degree of automation in picking is still very low. At present, the picking of citrus oranges in China is basically done manually.

[0003] At present, our country is still in its infancy in the research of agricultural picking robots, and there is no mature technology at present; the invention patent with the publication number CN106105566B and the name "Intelligent Citrus Picking Robot and Citrus Picking Method" uses the walking mechanism as the carrier to The robotic arm, workbench, recovery device, control system, and power supply system are fused together as an experimental research and a prototype is developed, which is representative in terms of technology, but there are still some deficiencies in the technical solution: First, when the robot picks fruit The walking mechanism cannot automatically avoid obstacles in the plantation, which makes it inconvenient for the robot to walk; secondly, because the connection between the fruit and the fruit handle is relatively firm, and the branches have certain flexibility, especially for citrus, the distance between the fruit and the fruit handle The fruit stem is relatively short, and the flexible handle is rotated when picking. The twisting method to separate the citrus from the fruit stem may tear the peel at the junction of the citrus and the fruit stem, resulting in damage to the appearance of the fruit, and better picking of citrus The method should keep a short section of fruit stalk on the fruit, and it is better to have leaves on the fruit stalk; the third is that after the robot automatically picks one end, the mechanical arm continues to pick after the recovery device is filled with fruit, causing the fruit to overflow

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